A 3D-grasp synthesis algorithm to grasp unknown objects based on graspable boundary and convex segments

Ala, R.,Kim, D.H.,Shin, S.Y.,Kim, C.,Park, S.K. Elsevier science 2015 Information sciences Vol.295 No.-

This paper presents a three dimensional (3D) grasp synthesis algorithm to achieve distinguished grasps supporting both stability and human-like grasping. The algorithm, which is based on the concepts of a graspable boundary and convex segments, was developed to enable a two-fingered gripper to grasp any unknown object, regardless of its shape, texture, or concavity, given a single 3D image data from depth sensors. The proposed algorithm provides ways to grasp any object using boundary, envelope, and functional grasps. The algorithm is based on identifying graspable segments, analyzing them geometrically, and incorporating the memory of grasping experience. Unlike most grasp synthesis research that focuses on complete 3D contours, our algorithm concentrates only on the graspable boundary and convex segments and thereby achieves stable grasps with less computational complexity. The experimental results show that the proposed algorithm provides distinguished and stable grasps for various objects in various environments, and is suitable for robots to grasp the objects successfully.

Application of Virtual, Augmented, and Mixed Reality to Urology

Alaric Hamacher,김수진,조성태,Sunil Pardeshi,이승현,은성종,황보택근 대한배뇨장애요실금학회 2016 International Neurourology Journal Vol.20 No.3

Recent developments in virtual, augmented, and mixed reality have introduced a considerable number of new devices into the consumer market. This momentum is also affecting the medical and health care sector. Although many of the theoretical and practical foundations of virtual reality (VR) were already researched and experienced in the 1980s, the vastly improved features of displays, sensors, interactivity, and computing power currently available in devices offer a new field of applications to the medical sector and also to urology in particular. The purpose of this review article is to review the extent to which VR technology has already influenced certain aspects of medicine, the applications that are currently in use in urology, and the future development trends that could be expected.

Virtual Reality and Simulation for Progressive Treatments in Urology

Alaric Hamacher,황보택근,김수진,정경진 대한배뇨장애요실금학회 2018 International Neurourology Journal Vol.22 No.3

In urology technologies and surgical practices are constantly evolving and virtual reality (VR) simulation has become a significant supplement to existing urology methods in the training curricula of urologists. However, new developments in urology also require training and simulation for a wider application. In order to achieve this VR and simulation could play a central role. The purpose of this article is a review of the principal applications for VR and simulation in the field of urology education and to demonstrate the potential for the propagation of new progressive treatments. Two different cases are presented as examples: exposure therapy for paruresis and virtual cystoscopy for diagnosis and surgery of bladder cancer. The article uses research and publications listed in openly accessible directories and is organized into 3 sections: The first section covers features of VR and simulation technologies. The second one presents confirmed applications of current technologies in urology education and showcases example future applications in the domain of bladder treatment and surgery. The final section discusses the potential of the technology to improve health care quality.

Adding stereoscopic 3D to 3D games with the TriOviz SDK, optimizing the stereoscopic viewing experience

Alaric Hamacher 한국컴퓨터게임학회 2014 한국컴퓨터게임학회논문지 Vol.27 No.1

Developing computer games is a highly specialized process. Adding stereoscopic 3D features to a game can be time consuming an may lead to a whole new production pipeline. While there products like TRIDEF enable stereoscopic 3D gaming on the user side, many leading game manufacturer consider engines with integrated stereoscopic 3D support like the CRYENGINE or the use of a "ready to use" library for adding stereo 3D support to their game. The french company TRIOVIZ has put a new a stereo 3D software development kit on the market, witch works on multiple platforms and can easily be integrated on top of existing game structures. This article addresses what impact the stereo 3D engine has on the game building process. Since stereoscopic 3D computer games will be played on different devices of different sizes with various viewing distances, this article also shows which parameters need to be adapted to provide a comfortable stereoscopic viewing experience for the player.

UHDTV에서의 게임 디스플레이 환경 연구

알라릭하마커 ( Alaric Hamacher ),이승진 ( Sung Jin Lee ),김용정 ( Yong Jung Kim ),이승현 ( Seung Hyun Lee ) 한국컴퓨터게임학회 2013 한국컴퓨터게임학회논문지 Vol.26 No.2

Requirements for contents service providing a sense of realism based on high quality and high resolution have increased since HD (High definition) and 3D technologies have emerged. Recently, high frame rate (HFR) and multi-channel audio-based contents with 4K resolution have been produced since UHDTV which can display 4 times as many pixels as Full HD on a screen has been released. Also high performance graphic rendering technology using high resolution large display, high-speed transmission technology etc have been continuously researched to improve gamers` level of satisfaction providing greater immersion in game field. The necessity to implement UHDTV game based on high resolution large display has been raised to provide greater immersion and presence. Therefore, the research examines changes in display environment to implement high quality games using UHDTV.

카메라 테크놀로지와 3D 미학

알라릭 하마처(Alaric Hamacher ) 동의대학교 영화·트랜스미디어연구소 2019 디스포지티프 Vol.6 No.-

When planning stereoscopic 3D movie productions, the choice of camera technologies ranges among the most frequent questions. Operators, directors and producers often request a complete and universal system to solve all technical challenges in stereoscopic 3D shooting situations. The present article aims to explain the principal challenges in the perception and representation of stereoscopic 3D movies. The purpose of this article is to increase the understanding for different technical solutions and to help in the choice of the right technical equipment for a given artistic and creative application.

System Integration for the Operation of Unmanned Audio Center based on AoIP

Jaeho Lee,Alaric Hamacher,Soonchul Kwon,Seunghyun Lee 한국인터넷방송통신학회 2017 Journal of Advanced Smart Convergence Vol.6 No.2

Recently, the development of the information communication industry has made many changes in the industrial acoustic industry. Especially, it has a great influence on the change of system and equipment of acoustic system. Analog equipment is changing to digital equipment, and integrated control equipment makes it easier to operate and manage the sound system. However, the integrated control system currently on the market is only controllable for some devices. In this paper, we propose a new AoIP - based system configuration method, which enables the operation status monitoring, unmanned operation and self - diagnosis of equipment. As a result of the study, it is confirmed that the proposed system can be operated, monitored, and self - diagnosed at remote sites. It is expected that an AoIP- based sound system will be the industry standard in the future.

System Integration for the Operation of Unmanned Audio Center based on AoIP

이재호,Hamacher Alaric Carl,권순철,이승현 한국인터넷방송통신학회 2017 Journal of Advanced Smart Convergence Vol.6 No.2

Recently, the development of the information communication industry has made many changes in the industrial acoustic industry. Especially, it has a great influence on the change of system and equipment of acoustic system. Analog equipment is changing to digital equipment, and integrated control equipment makes it easier to operate and manage the sound system. However, the integrated control system currently on the market is only controllable for some devices. In this paper, we propose a new AoIP - based system configuration method, which enables the operation status monitoring, unmanned operation and self - diagnosis of equipment. As a result of the study, it is confirmed that the proposed system can be operated, monitored, and self - diagnosed at remote sites. It is expected that an AoIP- based sound system will be the industry standard in the future.

A Study on Correlation among Viewers by Medium based on KBS PIE-TV Index

이종수,Hamacher Alaric Carl,권순철,이승현 한국인터넷방송통신학회 2017 Journal of Advanced Smart Convergence Vol.6 No.4

In order to respond to the ever-changing media environments in the era of smart and mobile technology, KBS has introduced and partially applied PIE-TV and PIE-nonTV modes that monitor the average number of viewers among the national population group by means of the sample household extraction method which is a traditional way of rating investigation. This study analyzes the correlation between the number of viewers of premiere, re-air broadcasting, and MPP channel programs and the number of OTT-based VOD viewers in reference to the data extracted from PIE-TV survey results. KBS conducted a survey for 3 months between June and August 2017 to measure the PIE-TV Index, based on which the above-mentioned correlation was analyzed with programs classified to entertainment, drama, and cultural programs. For data analysis, SPSS (Ver. 18.0 for Window, SPSS Inc, Chicago, IL, USA) was utilized. It was assumed that when p<0.05 in the confidence interval of 95%, statistically significance would be secured. Among the 30 subjects in the simple correlation analysis, the parameter was determined by the Person correlation coefficient and the non-parameter by the Spearman correlation coefficient. Analysis results are as below: ① As the number of viewers of premier entertainment, drama, and cultural programs was larger, the number of VOD viewers was larger accordingly. ② As for entertainment and drama programs, as the number of re-air broadcasting viewers was larger, the number of VOD viewers decreased accordingly. ② As for entertainment and drama programs, as the number of MPP viewers was larger, the number of VOD viewers decreased accordingly. It is expected that this statistical data can be utilized for strategic planning of MPP channel lineups including terrestrial TV broadcasting, cable TV, etc.

A Study on the Quality of Photometric Scanning Under Variable Illumination Conditions

전형준,Jahanzeb Hafeez,Hamacher Alaric Carl,이승현,권순철 한국인터넷방송통신학회 2017 Journal of Advanced Smart Convergence Vol.6 No.4

The conventional scan methods are based on a laser scanner and a depth camera, which requires high cost and complicated post-processing. Whereas in photometric scanning method, the 3D modeling data is acquired through multi-view images. This is advantageous compared to the other methods. The quality of a photometric 3D model depends on the environmental conditions or the object characteristics, but the quality is lower as compared to other methods. Therefore, various methods for improving the quality of photometric scanning are being studied. In this paper, we aim to investigate the effect of illumination conditions on the quality of photometric scanning data. To do this, 'Moai' statue is 3D printed with a size of 600 (H) × 1,000 (V) × 600 (D). The printed object is photographed under the hard light and soft light environments. We obtained the modeling data by photometric scanning method and compared it with the ground truth of 'Moai'. The 'Point-to-Point' method used to analyseanalyze the modeling data using open source tool 'CloudCompare'. As a result of comparison, it is confirmed that the standard deviation value of the 3D model generated under the soft light is 0.090686 and the standard deviation value of the 3D model generated under the hard light is 0.039954. This proves that the higher quality 3D modeling data can be obtained in a hard light environment. The results of this paper are expected to be applied for the acquisition of high-quality data.